[Janak, 3(6): June, 2014] ISSN: 2277-9655

Scientific Journal Impact Factor: 3.449

(ISRA), Impact Factor: 1.852

IJESRT
INTERNATIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH
TECHNOLOGY
Speed Control and THD for Three Phase Induction Motor Using Simulink
Priya Janak 1, Ranvir Kaur 2
*1
Student, M.tech EE Department, BBSBEC, Fatehgarh Sahib, Punjab, India
2
EE Department , BBSBEC , Fatehgarh Sahib , Punjab, India

Abstract
Sinusoidal Pulse Width Modulation variable speed drives are increasingly applied in many new industrial
applications that require superior performance. Be it domestic application or industry, motion control is required
everywhere. Recently, developments in power electronics and semiconductor technology have lead improvements in
power electronic systems. Recent developments in speed control methods of the induction motor have led to their
large scale use in almost all electrical drives. Variable voltage and frequency supply to ac drives is invariably obtained
from a three-phase voltage source inverter, which is carrier-based sinusoidal PWM. Simulink is utilized with
MATLAB to get a reliable and flexible simulation. PWM technique is proven to be an effective way of controlling
speed of induction motor. In ac motor drives, SPWM inverters make it possible to control both frequency and
magnitude of the voltage and current applied to a motor. As a result, PWM inverter-powered motor drives are more
variable and offer in a wide range better efficiency and higher performance when compared to fixed frequency motor
drives. Three phase voltage-fed PWM inverters are recently showing growing popularity for multi-megawatt industrial
drive applications. Simulation results are obtained using MATLAB/Simulink environment for effectiveness of the
study.

Keyword: ASD(Adjustable speed drive) MATLAB, SPWM , MOSFET, Induction Motor Drive..
Introduction
Three phase induction motors are most as is often the practice, although some DC drives are
widely used motors for any industrial control and also based on the principle of adjustable frequency.
automation. It is often required to control the output
voltage of inverter for the constant voltage/frequency Speed control techniques of induction motors
(V/F) control of an induction motor. PWM (Pulse can be broadly classified into two types – scalar
Width Modulation) based firing of inverter provides control and vector control. Scalar control involves
the best constant V/F control of an induction motor. controlling the magnitude of voltage or frequency of
Amongst the various PWM techniques, the sinusoidal the induction motor. Three phase induction motors are
PWM is good enough and most popular. Induction reliable, robust, and highly durable and of course need
Motors are often termed the “Workhorse of the less maintenance.. Many advanced semiconductor
Industry”. Be it domestic application or industry, devices are available today in power electronics
motion control is required everywhere. The systems market like BJT, MOSFET, IGBT, etc. for control of
that are employed for this purpose are called drives. Electric Drives .In our work MOSFET (metal oxide
Such a system, if makes use of electric motors is semiconductor field-effect transistor) is used as a
known as an electrical drive. An adjustable speed drive semiconductor device
(ASD) is a device used to provide continuous range
process speed control (as compared to discrete speed
control as in gearboxes or multi-speed motors). An
ASD is capable of adjusting both speed and torque Speed control techniques
from an induction or synchronous motor. An electric
ASD is an electrical system used to control motor When power is supplied to an induction
speed. ASDs may be referred to by a variety of names, motor with specified frequency and voltage, it runs at
such as variable speed drives, adjustable frequency its rated speed. There are various methods for the
drives or variable frequency inverters. The latter two speed control of an Induction Motor and are briefly
terms will only be used to refer to certain AC systems, explained:

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[Janak, 3(6): June, 2014] ISSN: 2277-9655
Scientific Journal Impact Factor: 3.449
(ISRA), Impact Factor: 1.852
.Voltage Control: As the voltage decreases, the torque voltage is then fed through an inverter back to the
decreases (the torque developed in an induction motor source. Here only the component losses are accounted
is proportional to the square of the terminal voltage). for. The excess power not transformed in mechanical
Practically this is confined to 80-100% control. torque will be fed back to the source.
Unfortunately this is not an effective control.

• Frequency Control: This is by far the most efficient

way to control the speed. However, one has to make Sinusoidal pulse width modulation
sure that the machine does not saturate. Since the flux
is proportional to V/f, this control has to assure that the The PWM technique generates rectangular
magnitude of the voltage is proportional to the speed. wave forms with modulated width in order to obtain
Power electronic circuits are best suited for this kind variable voltage and frequency to supply an induction
of control. motor. It applies to motor control, as it is a way of
delivering energy through a succession of pulses rather
• Vector Control: The magnetizing current always than a continuously varying (analog) signal. By
lags (inductive) the voltage by 90° and the torque increasing or decreasing pulse width, the controller
producing current is always in phase with the voltage. regulates energy flow to the motor shaft.
In vector control the magnetizing current (Id) is
controlled in one control loop and the torque This is most popular method of controlling the output
producing current (Iq) in another. The two vectors Id voltage and this method is termed as pulse width
and Iq which are always 90° apart, are then added modulation technique. PWM is an internal control
(vector sum) and sent to the modulator, which turns method and it gives better result than any external
the vector information into a rotating PWM modulated control methods. There are number of PWM methods
3-phase system with the correct frequency and for variable frequency voltage-sourced inverters. A
voltage. This will reduce torque pulsation and a robust suitable PWM technique is employed in order to
control with fast dynamic response for the induction obtain the required output voltage in the line side of
motor is achieved. the inverter. In this technique a high frequency
triangular carrier wave is compared with the sinusoidal
• Changing Stator Poles: For a stator which has reference wave determines the switching instant as
several independent windings, one can connect them shown in figure 1
is series for starting, essentially building N*poles. The
speed of machine will be reduced by the same factor.
As the machine speed increases, one can switch the
stator connection to a parallel connection, hence
reducing the amount of poles and hence accelerating
the machine. This method is simple, but can really
accommodate only 2 speeds.

• Rotor Resistance: For the starting, one can insert a

variable resistance in the rotor (slip rings) and hence
cause the developed torque to vary, hence control the
speed. Figure 1

• Doubly Fed Motor A special application can be to When the modulating signal is a sinusoidal
inject a current in the rotor. Hence the air gap flux will signal of amplitude Am, and the amplitude of
depend upon the difference of frequency between triangular carrier wave is Ac, then the ratio m=Am/Ac,
stator and rotor currents, and therefore the speed can is known as the modulation index. It is to be noted that
be varied by varying the rotor frequency. by controlling the modulation index one can control
the amplitude of applied output voltage. For wide
• Kramer Circuit variation in drive speed, frequency of the applied AC
voltage needs to be varied over a wide range. The
With the method of variable resistor in the rotor applied voltage also needs to be varying almost
circuit, a lot of power is dissipated in this additional linearly with the frequency. The harmonic content in
resistor. With the Kramer method, one takes the rotor the output of the inverter can be reduced by employing
windings, and feed a 3-phase rectifier. This DC pulse width modulation (PWM). Sinusoidal PWM

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[Janak, 3(6): June, 2014] ISSN: 2277-9655
Scientific Journal Impact Factor: 3.449
(ISRA), Impact Factor: 1.852
(SPWM) is affecting in reducing lower order
harmonics while varying the output voltage and gone
through many revisions and it has a history of three
decades. Figure 2 shows the three phase PWM signal.

Total harmonics distortion (THD) is given by,

And, V1 = Fundamental component

Merits of pwm inverters over conventional control

Sinusoidal Pulse Width Modulation variable

speed drives are increasingly applied in many new
Figure 2 industrial applications that require superior
performance. . Be it domestic application or industry,
motion control is required everywhere. Since motor
speed depends on the speed of the rotating field, speed
control can be affected by changing the frequency of
the AC power supplied to the motor.
As in most machines the induction motor is designed
to work with the flux density just below the saturation
point over most of its operating
Percentage of individual harmonics is calculated by range to achieve optimum efficiency.
the eqn. The flux density B is given by:

B  k2
V
f

Where V is the applied voltage, f is the supply

where, n= nth harmonics. frequency and k2 is a constant depending on the shape
and configuration of the stator poles. For speed
Percentage of total RMS of the output, when Mf is control, the supply voltage must increase in step with
even the frequency which is done by PWM technique
otherwise the flux in the machine will deviate from the
desired optimum operating point.

Practical motor controllers based on frequency control

must therefore have a means of simultaneously
controlling the motor supply voltage. This is known as
Volts/Hertz control. A motor requires very high
currents to operate. Being able to vary their speed with
When Mf is odd
PWM increases the efficiency of the total system by
quite a bit. PWM is more effective at controlling motor
speeds at low r.p.m than linear methods. Increased
noise immunity is yet another benefit of choosing

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 [Janak, 3(6): June, 2014] ISSN: 2277-9655
Scientific Journal Impact Factor: 3.449
(ISRA), Impact Factor: 1.852
PWM over analog control, so by using pulse width
modulation technique the width of the pulse can be
changed so that the frequency and timing of the signal Simulation of drive using pwm and results
can be changed. And the power content of the signal
can be maintained. Here we developed a DC to AC inverter fed


to induction motor in Simulink / Matlab with a three
Direct on line starting of induction motors cause phase PWM inverter controlling both the frequency
current peaks that can harm the motor, PWM and magnitude of the voltage output. Many advanced
frequency inverters provide softer starting, resulting in semiconductor devices are available today in power


cost reduction with regard to maintenance. electronics market like BJT, MOSFET, IGBT, etc. for
Industrial systems are often oversized due to an control of Electric Drives .In our work MOSFET
expectation of future production increase. PWM (metal oxide semiconductor field-effect transistor) is
inverters allow the proper regulation of the operational used as a semiconductor device For generation of
speed according to the equipments available and the PWM pulses the technique which is used is comparing


production needs. sinusoidal control voltage (at the desired output
The power system global efficiency depends not only frequency and proportional to the output voltage
on the motor, but also on the control. PWM inverters magnitude) with a triangular waveform at a selected
are high efficiency apparatuses. Induction motors also switching frequency. The harmonics in the output
present high efficiency levels, reaching up to 95% or voltage appears as sidebands of the switching
even more in larger machines operating at frequency and its multiples in a PWM inverter.
Rated conditions. When speed variation is required, Therefore a high switching frequency results in an
the output changes in an optimized Way, directly essentially sinusoidal current (plus a superimposed
affecting the energy consumption and leading to high small ripple at a high frequency) in the motor. A 3-


efficiency levels performed by the system. phase squirrel cage motor rated 5.4 HP, 220 V, 50 Hz,
PWM frequency inverters suit both variable and 1430 rpm is fed by a 3-phase MOSFET inverter
constant torque loads. With variable torque loads (low connected to a DC voltage source of 400 V. The
torque demand at low speeds) the motor voltage is Inverter is modeled using the "Universal Bridge"
decreased to compensate for the efficiency reduction block and the motor by the "Asynchronous Machine"
normally resultant from load reduction. With constant block. The load torque applied to the machine’s shaft
torque (or constant power) loads the system efficiency is constant i.e 1. Observe that the rotor and stator
improvement comes from the feasibility of continuous currents are quite noisy. The noise introduced by the
adjustment of speed, with no need to use multiple PWM inverter is also observed in the electromagnetic
motors or mechanical variable speed systems (such as torque waveform Te. However, the motor’s inertia
pulleys and gears), which introduce additional losses. prevents this noise from appearing in the motor's speed
waveform.

Figure 3 Simulink Model (without using three phase PWM fed inverter)

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[Janak, 3(6): June, 2014] ISSN: 2277-9655
Scientific Journal Impact Factor: 3.449
(ISRA), Impact Factor: 1.852
Simulation Results

Figure 4: Speed v/s time

Figure 5: Electromagnetic torque v/s time

Figure 6 :Rotor current v/s time

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[Janak, 3(6): June, 2014] ISSN: 2277-9655
Scientific Journal Impact Factor: 3.449
(ISRA), Impact Factor: 1.852
Figure 7: Stator current v/s time

Figure 8 Stator fluxq v/s time

Figure 9 Stator fluxd v/s time

Figure 10 Simulink Model (PWM fed three phase inverter)

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[Janak, 3(6): June, 2014] ISSN: 2277-9655
Scientific Journal Impact Factor: 3.449
(ISRA), Impact Factor: 1.852

Figure 11: Motor speed v/s time

Figure 12: Electromagnetic torque v/s time

Figure 13: Rotor current v/s time

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[754-762]
[Janak, 3(6): June, 2014] ISSN: 2277-9655
Scientific Journal Impact Factor: 3.449
(ISRA), Impact Factor: 1.852

Figure 14: Stator current v/s time

Figure 15: Stator fluxq v/s time

Figure 16 Stator fluxd v/s time

Table 1: Modulation Index and its effects on THD of current and voltage

MODULATION INDEX THD OF CURRENT (%) THD OF VOLTAGE (%)

0.2 0.04518 2.522

0.4 0.0402 1.637

0.6 0.0329 1.208

0.8 0.0258 0.9185

1 0.0167 0.6688

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[Janak, 3(6): June, 2014] ISSN: 2277-9655
Scientific Journal Impact Factor: 3.449
(ISRA), Impact Factor: 1.852
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